1. Learning with Purpose Control Design and Implementation of a Small-Scale Autonomous Hovercraft Ryan Mackay Joshua Bevan Nicholas Lutz Mario Stamatiou University of Massachusetts Lowell James B. Francis College of Engineering Department of Mechanical Engineering Capstone

2. Learning with Purpose Introduction  Hovercrafts present a unique control challenge  It is an under-actuated system  3 DOF of motion, 2 DOF of control  Requires optimization techniques to operate  The objective was to develop a robust control of the platform  Using GPS and inertial data provided by the IMU  Autonomously navigate between set waypoints

3. Learning with Purpose Overview I.Hovercraft Platform a)Theory b)Mechanical Systems c)APM d)Design Methodology II.Control Algorithm a)Concepts b)Inertial frame and body frame-dynamics of hovercraft c)Inertial frame and body frame-kinematics of hovercraft d)Set Point detection-turning e)Setpoint detection-cruising III.Implementation a)Procedures and Methods for Design b)Code Generation c)Ground Control IV.Results and Analysis a)Non-Optimized Track Test b)Cross Track Error Optimized Track Test c)Steering/Crosstrack Optimized & Box Test d)Stability Dependence on Initial Conditions V.Further Study VI.Special Thanks

4. Learning with Purpose Theory Lift Fan supplies air pressure filling the cavity and inflating the skirt Once the air pressure equals the weight of the hovercraft the hover craft lifts and air escapes from the outlet ducts. The escaping air creates a thin layer of air between the skirt and ground allowing the hovercraft to float over the ground. Hovercraft Platform

5. Learning with Purpose Mechanical Systems  Modified model hovercraft  Servo driven rudder system.  Single propeller thrust and lift fans.  Powered by 2000mAh NiMH and 3200mAh 4S LiPo batterys. Hovercraft Platform

6. Learning with Purpose Electronics APM GPS APM 2.5+ Assembled (Top entry) with 915Mhz (US) Telemetry Set  3-axis gyro, accelerometer and magnetometer, along with a high-performance barometer  Onboard 4 MP Dataflash chip for automatic datalogging  Arduino Compatible 3DR GPS uBlox LEA-6  5 Hz update rate  25 x 25 x 4 mm ceramic patch antenna  38 x 38 x 8.5 mm total size, 16.8 grams. Hovercraft Platform

7. Learning with Purpose Design Methodology  Steering Mechanism  Rudder  More challenging control scheme due to parasitic thrust  Differential Thrust  Capability of turning in place, allowing more sophisticated control  Lift Mechanism  Flow Directing Duct  Uses a single fan, but requires thrust at all times during operation  Separate Lift Fan  Allows low thrust without losing lift  Microcontroller/ IMU  PX4  More powerful processor  APM  More thoroughly documented source code and tutorials Hovercraft Platform

8. Learning with Purpose Concepts that were applied for development of control algorithm  Uses of Inertial frame and body frame for dynamic and kinematic analysis  The hovercraft is an under-actuated vehicle since there are three degrees of freedom and only two available control inputs.  Line of sight for detecting setpoints while turning and cruising  Control theory application Control Algorithm

9. Learning with Purpose Inertial body frame dynamics  Both Inertial frame and body-fixed frame are used for development of control algorithm  Inertial frame assumes a fixed origin. The Earth is assumed to be the origin of the inertial reference frame  Coordinates are defined in inertial reference frame  Force, moment velocity and acceleration are defined in body-fixed frame Control Algorithm

10. Learning with Purpose Inertial frame and body frame-kinematics Control Algorithm

11. Learning with Purpose Set Point detection-turning Control Algorithm

12. Learning with Purpose Setpoint detection-cruising Control Algorithm

13. Learning with Purpose Control Algorithm Implemented Algorithm

14. Learning with Purpose Procedures and Methods for Design Implementation

15. Learning with Purpose Methods for Design 1|PIDρ_pid, u_pid, Ψ_pid, r_pid; 2|if ( |bearing_error| < max angle for cruise ) 3|Target_speed = cruise_speed + ρ_pid( distance_to_waypoint, kp=K ρ, ki=0, kd=0 ) 4|Target_speed = Target_speed + ρ_pid( ground_speed, kp=K u, ki=0, kd=0 ) 5|else 4|Target_speed = cruise_speed 5|T% = calc_throttle( Target speed ) 6|Limit T% min ≤ T% ≤ T% max 7|∆% = Ψ_pid( sin(bearing_error), kp=K ψ, ki=0, kd=0 ) 8|∆% = r_pid( omega.z, kp=K r, ki=0, kd=0 ) 9|∆% = (∆%)(cruise_speed/ground_speed) Implementation

16. Learning with Purpose Generated Code Implementation

17. Learning with Purpose Generated Code Implementation

18. Learning with Purpose Ground Control Implementation

19. Learning with Purpose Non-Optimized Track Test Results and Analysis

20. Learning with Purpose Cross-Track Error Optimization Results and Analysis

21. Learning with Purpose Steering/Crosstrack Optimization Results and Analysis

22. Learning with Purpose Stability Dependence on Initial Conditions Results and Analysis

23. Learning with Purpose Further Study  Investigate terrain sensing  Infer terrain properties from inertial data and adjust lift in response  Explore path optimization  All waypoints are available at the start of flight  It should be possible to look forward in the path and plan actions beforehand  Develop controls to be used with a craft using differential thrust  Decoupling turning moment and thrust allows path optimization to be explored  Use sonar capabilities for obstacle avoidance  ArduRover software has the capability of doing obstacle avoidance  Adding a sonar module, autonomous navigation could be improved

24. Learning with Purpose Special Thanks We would like to acknowledge the efforts of Professor Raptis in acting as our capstone advisor. His contributions to our understanding of the theoretical and practical implementations of the control algorithm were invaluable. We would like to thank all the professors of the Mechanical Engineering Department for providing us the knowledge that was applied in successfully achieving the goal of this project. Additionally, we would like to thank RC Buyer’s Warehouse of Nashua, NH for providing advice on equipment selection.